test commit 3

test commit 2
test comit
2026-03-18 15:15:38 -05:00 · 2026-03-18 15:08:27 -05:00 · 2026-03-18 15:05:37 -05:00 · 2026-03-09 16:42:00 -05:00 · 2026-02-27 17:25:50 -06:00 · 2026-02-27 17:22:38 -06:00
21 changed files with 1557 additions and 2170 deletions
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Close.java
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/Auto_LT_Far.java
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/autonomous/actions/AutoActions.java
@@ -2,7 +2,6 @@ package org.firstinspires.ftc.teamcode.autonomous.actions;

 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinEndPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -11,18 +10,23 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3b;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
-import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;

 import androidx.annotation.NonNull;

+import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
 import com.acmerobotics.roadrunner.Action;
 import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;

+import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
+import org.firstinspires.ftc.teamcode.constants.Color;
+import org.firstinspires.ftc.teamcode.constants.ServoPositions;
+import org.firstinspires.ftc.teamcode.constants.StateEnums;
 import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
-import org.firstinspires.ftc.teamcode.utils.Drivetrain;
 import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
 import org.firstinspires.ftc.teamcode.utils.Robot;
 import org.firstinspires.ftc.teamcode.utils.Servos;
 import org.firstinspires.ftc.teamcode.utils.Spindexer;
@@ -31,7 +35,8 @@ import org.firstinspires.ftc.teamcode.utils.Turret;

 import java.util.Objects;

-public class Actions{
+@Config
+public class AutoActions {
    Robot robot;
    MultipleTelemetry TELE;
    Servos servos;
@@ -40,17 +45,18 @@ public class Actions{
    Spindexer spindexer;
    Targeting targeting;
    Targeting.Settings targetingSettings;
+    Light light;
    Turret turret;
    private int driverSlotGreen = 0;
    private int passengerSlotGreen = 0;
    private int rearSlotGreen = 0;
    private int mostGreenSlot = 0;
-    private double firstSpindexShootPos = spinStartPos;
+    public static double firstSpindexShootPos = spinStartPos;
    private boolean shootForward = true;
-    public static double firstShootTime = 0.3;
    public int motif = 0;
+    double spinEndPos = ServoPositions.spinEndPos;

-    public Actions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur){
+    public AutoActions(Robot rob, MecanumDrive dri, MultipleTelemetry tel, Servos ser, Flywheel fly, Spindexer spi, Targeting tar, Targeting.Settings tS, Turret tur, Light lig) {
        this.robot = rob;
        this.drive = dri;
        this.TELE = tel;
@@ -60,8 +66,17 @@ public class Actions{
        this.targeting = tar;
        this.targetingSettings = tS;
        this.turret = tur;
+        this.light = lig;
    }
-    public Action prepareShootAll(double colorSenseTime, double time, int motif_id) {
+
+    public Action prepareShootAll(
+            double colorSenseTime,
+            double time,
+            int motif_id,
+            double posX,
+            double posY,
+            double posH
+    ) {
        return new Action() {
            double stamp = 0.0;
            int ticker = 0;
@@ -70,38 +85,61 @@ public class Actions{

            boolean decideGreenSlot = false;

+            void spin1PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall1;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void reverseSpin2PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall2;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            void spin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3;
+                shootForward = false;
+                spinEndPos = 0.05;
+            }
+
+            void oddSpin3PosFirst() {
+                firstSpindexShootPos = spindexer_outtakeBall3b;
+                shootForward = true;
+                spinEndPos = 0.95;
+            }
+
+            Action manageShooter = null;
+
            @Override
            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                if (ticker == 0) {
                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
+                    driverSlotGreen = 0;
+                    passengerSlotGreen = 0;
+                    rearSlotGreen = 0;
                }
                ticker++;
                servos.setTransferPos(transferServo_out);
                drive.updatePoseEstimate();

+                light.setState(StateEnums.LightState.GOAL_LOCK);
+
                teleStart = drive.localizer.getPose();

-                double robX = drive.localizer.getPose().position.x;
-                double robY = drive.localizer.getPose().position.y;
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
+                manageShooter.run(telemetryPacket);

-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robX - goalX;  // delta x from robot to goal
-                double dy = robY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robX, robY, robotHeading, 0.0, turretInterpolate);
-
-                turret.trackGoal(deltaPose);
-
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.addData("motif", motif_id);
+                TELE.addData("Most Green Slot", mostGreenSlot);
+                TELE.addData("Driver Slot Greeness", driverSlotGreen);
+                TELE.addData("Passenger Slot Greeness", passengerSlotGreen);
+                TELE.addData("Rear Greeness", rearSlotGreen);
                TELE.update();

                if ((System.currentTimeMillis() - stamp) < (colorSenseTime * 1000)) {
@@ -110,21 +148,38 @@ public class Actions{

                    servos.setSpinPos(spindexer_intakePos1 + spindexerWiggle);

-                    spindexer.detectBalls(true, true);

-                    if (Objects.equals(spindexer.GetFrontDriverColor(), Spindexer.BallColor.GREEN)) {
-                        driverSlotGreen++;
+// Rear Center (Position 1)
+                    double distanceRearCenter = robot.color1.getDistance(DistanceUnit.MM);
+                    if (distanceRearCenter < 52) {
+                        NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+                        double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+                        if (gP1 >= 0.38) {
+                            rearSlotGreen++;
+                        }
                    }

-                    if (Objects.equals(spindexer.GetFrontPassengerColor(), Spindexer.BallColor.GREEN)) {
-                        passengerSlotGreen++;
+// Front Driver (Position 2)
+                    double distanceFrontDriver = robot.color2.getDistance(DistanceUnit.MM);
+                    if (distanceFrontDriver < 50) {
+                        NormalizedRGBA color2RGBA = robot.color2.getNormalizedColors();
+                        double gP2 = color2RGBA.green / (color2RGBA.green + color2RGBA.red + color2RGBA.blue);
+                        if (gP2 >= 0.4) {
+                            driverSlotGreen++;
+                        }
                    }

-                    if (Objects.equals(spindexer.GetRearCenterColor(), Spindexer.BallColor.GREEN)) {
-                        rearSlotGreen++;
+// Front Passenger (Position 3)
+                    double distanceFrontPassenger = robot.color3.getDistance(DistanceUnit.MM);
+                    if (distanceFrontPassenger < 29) {
+                        NormalizedRGBA color3RGBA = robot.color3.getNormalizedColors();
+                        double gP3 = color3RGBA.green / (color3RGBA.green + color3RGBA.red + color3RGBA.blue);
+                        if (gP3 >= 0.4) {
+                            passengerSlotGreen++;
+                        }
                    }

-                    spindexer.setIntakePower(1);
+                    spindexer.setIntakePower(-0.1);

                    decideGreenSlot = true;

@@ -145,43 +200,48 @@ public class Actions{
                        if (mostGreenSlot == 1) {
                            firstSpindexShootPos = spindexer_outtakeBall1;
                            shootForward = true;
+                            spinEndPos = 0.95;
                        } else if (mostGreenSlot == 2) {
                            firstSpindexShootPos = spindexer_outtakeBall2;
                            shootForward = false;
+                            spinEndPos = 0.05;
                        } else {
-                            firstSpindexShootPos = spindexer_outtakeBall3;
-                            shootForward = false;
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
+                            shootForward = true;
+                            spinEndPos = 0.95;
                        }
                    } else if (motif_id == 22) {
                        if (mostGreenSlot == 1) {
-                            firstSpindexShootPos = spindexer_outtakeBall2;
-                            shootForward = false;
-                        } else if (mostGreenSlot == 2) {
-                            firstSpindexShootPos = spindexer_outtakeBall3;
-                            shootForward = false;
-                        } else {
-                            firstSpindexShootPos = spindexer_outtakeBall2;
+                            firstSpindexShootPos = spindexer_outtakeBall3b;
                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else if (mostGreenSlot == 2) {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = true;
+                            spinEndPos = 0.95;
+                        } else {
+                            firstSpindexShootPos = spindexer_outtakeBall1;
+                            shootForward = false;
+                            spinEndPos = 0.03;
                        }

                    } else {
                        if (mostGreenSlot == 1) {
                            firstSpindexShootPos = spindexer_outtakeBall3;
                            shootForward = false;
+                            spinEndPos = 0.05;
                        } else if (mostGreenSlot == 2) {
                            firstSpindexShootPos = spindexer_outtakeBall3b;
                            shootForward = true;
+                            spinEndPos = 0.95;
                        } else {
                            firstSpindexShootPos = spindexer_outtakeBall1;
                            shootForward = true;
-                        }
-
+                            spinEndPos = 0.95;                        }
                    }

                    return true;
                } else if ((System.currentTimeMillis() - stamp) < (time * 1000)) {
-//                    TELE.addData("MostGreenSlot", mostGreenSlot);
-//                    TELE.update();
                    spindexer.setIntakePower(-((System.currentTimeMillis() - stamp - colorSenseTime)) / 1000);

                    servos.setSpinPos(firstSpindexShootPos);
@@ -195,159 +255,65 @@ public class Actions{
        };
    }

-    public Action shootAll(int vel, double shootTime, double spindexSpeed) {
+    public Action shootAllAuto(double shootTime, double spindexSpeed, double posX, double posY, double posH) {
        return new Action() {
            int ticker = 1;
+
            double stamp = 0.0;
-            double velo = vel;
+
            int shooterTicker = 0;
+            Action manageShooter = null;

            @Override
            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(vel);
-                velo = flywheel.getVelo();
-
                drive.updatePoseEstimate();

                teleStart = drive.localizer.getPose();

-                spindexer.setIntakePower(-0.3);
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();

                if (ticker == 1) {
                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(shootTime, posX, posY, posH, false);
+
                }
                ticker++;

-                spindexer.setIntakePower(0);
-                drive.updatePoseEstimate();
+                manageShooter.run(telemetryPacket);

-                teleStart = drive.localizer.getPose();
-
-                double robX = drive.localizer.getPose().position.x;
-                double robY = drive.localizer.getPose().position.y;
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robX - goalX;  // delta x from robot to goal
-                double dy = robY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robX, robY, robotHeading, 0.0, turretInterpolate);
-
-                turret.trackGoal(deltaPose);
-
-                if ((System.currentTimeMillis() - stamp < shootTime && servos.getSpinPos() < spinEndPos) || shooterTicker == 0) {
-
-                    if (shooterTicker == 0 && !servos.spinEqual(spinStartPos)) {
-                        servos.setSpinPos(spinStartPos);
-                    } else {
-                        servos.setTransferPos(transferServo_in);
-                        shooterTicker++;
-                        double prevSpinPos = servos.getSpinCmdPos();
-                        servos.setSpinPos(prevSpinPos + spindexSpeed);
-                    }
-
-                    return true;
+                double prevSpinPos = servos.getSpinCmdPos();

+                boolean end;
+                if (shootForward) {
+                    end = servos.getSpinPos() > spinEndPos;
                } else {
-                    servos.setTransferPos(transferServo_out);
-
-                    spindexer.resetSpindexer();
-                    spindexer.processIntake();
-
-                    return false;
-
+                    end = servos.getSpinPos() < spinEndPos;
                }

-            }
-        };
-    }
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && (!end || shooterTicker < Spindexer.waitFirstBallTicks + 1)) {

-    public Action shootAllAuto(double shootTime, double spindexSpeed) {
-        return new Action() {
-            int ticker = 1;
-
-            double stamp = 0.0;
-
-            double velo = 0.0;
-
-            int shooterTicker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                velo = flywheel.getVelo();
-
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                spindexer.setIntakePower(-0.3);
-
-                if (ticker == 1) {
-                    stamp = System.currentTimeMillis();
-                }
-                ticker++;
-
-                spindexer.setIntakePower(0);
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-
-                double robX = drive.localizer.getPose().position.x;
-                double robY = drive.localizer.getPose().position.y;
-                double robotHeading = drive.localizer.getPose().heading.toDouble();
-
-                double goalX = -15;
-                double goalY = 0;
-
-                double dx = robX - goalX;  // delta x from robot to goal
-                double dy = robY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
-
-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robX, robY, robotHeading, 0.0, turretInterpolate);
-
-                turret.trackGoal(deltaPose);
-
-                if (System.currentTimeMillis() - stamp < shootTime) {
-
-                    if (System.currentTimeMillis() - stamp < firstShootTime) {
-                        servos.setTransferPos(transferServo_out);
+                    if (!servos.spinEqual(firstSpindexShootPos) && shooterTicker < 1) {
                        servos.setSpinPos(firstSpindexShootPos);
                    } else {
                        servos.setTransferPos(transferServo_in);
                        shooterTicker++;
-                        double prevSpinPos = servos.getSpinCmdPos();
-
-                        if (shootForward) {
+                        Spindexer.whileShooting = true;
+                        if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
                            servos.setSpinPos(prevSpinPos + spindexSpeed);
-                        } else {
+                        } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
                            servos.setSpinPos(prevSpinPos - spindexSpeed);
                        }
+
                    }

                    return true;

                } else {
                    servos.setTransferPos(transferServo_out);
-
+                    Spindexer.whileShooting = false;
                    spindexer.resetSpindexer();
                    spindexer.processIntake();

@@ -358,34 +324,119 @@ public class Actions{
        };
    }

-    public Action intake(double intakeTime) {
+    public Action shootAllManual(
+            double shootTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double spindexSpeed,
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr) {
+        return new Action() {
+            int ticker = 1;
+
+            double stamp = 0.0;
+
+            int shooterTicker = 0;
+            Action manageShooter = null;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                drive.updatePoseEstimate();
+
+                teleStart = drive.localizer.getPose();
+
+                spindexer.setIntakePower(-0.1);
+
+                light.setState(StateEnums.LightState.BALL_COLOR);
+                light.update();
+
+                if (ticker == 1) {
+                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterManual(shootTime, hoodMoveTime, velStart, hoodStart, velEnd, hoodEnd, turr);
+
+                }
+                ticker++;
+
+                manageShooter.run(telemetryPacket);
+
+                double prevSpinPos = servos.getSpinCmdPos();
+
+                boolean end;
+                if (shootForward) {
+                    end = prevSpinPos > spinEndPos;
+                } else {
+                    end = prevSpinPos < spinEndPos;
+                }
+
+                if (System.currentTimeMillis() - stamp < shootTime * 1000 && !end) {
+                    servos.setTransferPos(transferServo_in);
+                    shooterTicker++;
+                    Spindexer.whileShooting = true;
+                    if (shootForward && shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos + spindexSpeed);
+                    } else if (shooterTicker > Spindexer.waitFirstBallTicks) {
+                        servos.setSpinPos(prevSpinPos - spindexSpeed);
+                    }
+
+                    return true;
+
+                } else {
+                    servos.setTransferPos(transferServo_out);
+                    Spindexer.whileShooting = false;
+                    spindexer.resetSpindexer();
+                    spindexer.processIntake();
+
+                    return false;
+
+                }
+            }
+        };
+    }
+
+    public Action intake(
+            double time,
+            double posX,
+            double posY,
+            double posH
+    ) {
        return new Action() {
            double stamp = 0.0;
            int ticker = 0;
+            Action manageShooter = null;

            @Override
            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
                if (ticker == 0) {
                    stamp = System.currentTimeMillis();
+                    manageShooter = manageShooterAuto(time, posX, posY, posH, false);
                }
                ticker++;

                spindexer.processIntake();
                spindexer.setIntakePower(1);
+                light.setState(StateEnums.LightState.BALL_COUNT);
+                light.update();

-                spindexer.ballCounterLight();
                drive.updatePoseEstimate();

                teleStart = drive.localizer.getPose();

-                TELE.addData("Full?", spindexer.isFull());
-                TELE.update();
+                manageShooter.run(telemetryPacket);

-                return ((System.currentTimeMillis() - stamp) < (intakeTime * 1000)) && !spindexer.isFull();
+                if ((System.currentTimeMillis() - stamp) > (time * 1000)) {
+                    servos.setSpinPos(spindexer_intakePos1);
+                    return false;
+                } else {
+                    return true;
+                }
            }
        };
    }

+    private boolean detectingObelisk = false;
+
    public Action detectObelisk(
            double time,
            double posX,
@@ -403,41 +454,44 @@ public class Actions{

            double stamp = 0.0;
            int ticker = 0;
+            int prevMotif = 0;

            @Override
            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
+                detectingObelisk = true;
                drive.updatePoseEstimate();
                Pose2d currentPose = drive.localizer.getPose();

                if (ticker == 0) {
                    stamp = System.currentTimeMillis();
-                    robot.limelight.pipelineSwitch(1);
+                    turret.pipelineSwitch(1);
+                    ticker++;
                }

-                ticker++;
                motif = turret.detectObelisk();

+                if (prevMotif == motif){
+                    ticker++;
+                }
+                prevMotif = motif;
+
                turret.setTurret(turrPos);

                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;

-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
+                boolean shouldFinish = timeDone || (xDone && yDone) || spindexer.isFull() || ticker > 10;

-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
+                teleStart = currentPose;

-                if (shouldFinish){
-                    if (redAlliance){
-                        robot.limelight.pipelineSwitch(4);
+                if (shouldFinish) {
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
                    } else {
-                        robot.limelight.pipelineSwitch(2);
+                        turret.pipelineSwitch(2);
                    }
+                    detectingObelisk = false;
                    return false;
                } else {
                    return true;
@@ -447,150 +501,127 @@ public class Actions{
        };
    }

-    public Action manageFlywheel(
-            double vel,
-            double hoodPos,
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
-    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
-        return new Action() {
-
-            double stamp = 0.0;
-            int ticker = 0;
-
-            @Override
-            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
-
-                drive.updatePoseEstimate();
-                Pose2d currentPose = drive.localizer.getPose();
-
-                if (ticker == 0) {
-                    stamp = System.currentTimeMillis();
-                }
-
-                ticker++;
-
-                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(vel);
-                servos.setHoodPos(hoodPos);
-
-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
-
-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
-
-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
-                TELE.update();
-
-                return !shouldFinish;
-
-            }
-        };
-    }
-
    public Action manageShooterAuto(
            double time,
            double posX,
            double posY,
-            double posXTolerance,
-            double posYTolerance
+            double posH,
+            boolean flywheelSensor
    ) {

-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
        return new Action() {

            double stamp = 0.0;
            int ticker = 0;

+            final boolean timeFallback = (time != 0.501);
+
+
            @Override
            public boolean run(@NonNull TelemetryPacket telemetryPacket) {

+
+
                drive.updatePoseEstimate();
                Pose2d currentPose = drive.localizer.getPose();

                if (ticker == 0) {
                    stamp = System.currentTimeMillis();
+
+                    if (redAlliance) {
+                        turret.pipelineSwitch(4);
+                        light.setManualLightColor(Color.LightRed);
+                    } else {
+                        turret.pipelineSwitch(2);
+                        light.setManualLightColor(Color.LightBlue);
+
+                    }
                }

                ticker++;

-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;

-                double robotHeading = drive.localizer.getPose().heading.toDouble();
+                double robotHeading = currentPose.heading.toDouble();

                double goalX = -15;
                double goalY = 0;

                double dx = robotX - goalX;  // delta x from robot to goal
                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);

-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+
+                Pose2d deltaPose;
+                if (posX != 0.501) {
+                    deltaPose = new Pose2d(posX, posY, Math.toRadians(posH));
+                } else {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                }
+                Turret.limelightUsed = true;
+
+//                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);

                targetingSettings = targeting.calculateSettings
                        (robotX, robotY, robotHeading, 0.0, false);

-                turret.trackGoal(deltaPose);
+                if (!detectingObelisk) {
+                    turret.trackGoal(deltaPose);
+                }

                servos.setHoodPos(targetingSettings.hoodAngle);

                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
                flywheel.manageFlywheel(targetingSettings.flywheelRPM);

                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+                boolean shouldFinish = timeDone || (flywheel.getSteady() && flywheelSensor);

-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
+                teleStart = currentPose;

-                teleStart = drive.localizer.getPose();
-
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.addData("Steady?", flywheel.getSteady());
                TELE.update();

                return !shouldFinish;
+            }
+        };
+    }
+
+    public Action Wait(double time) {
+        return new Action() {
+            boolean ticker = false;
+            double stamp = 0.0;
+
+            @Override
+            public boolean run(@NonNull TelemetryPacket telemetryPacket) {
+                if (!ticker) {
+                    stamp = System.currentTimeMillis();
+                    ticker = true;
+                }
+
+                return (System.currentTimeMillis() - stamp < time * 1000);

            }
        };
    }

-    public Action manageFlywheelAuto(
-            double time,
-            double posX,
-            double posY,
-            double posXTolerance,
-            double posYTolerance
+    public Action manageShooterManual(
+            double maxTime,
+            double hoodMoveTime, //Set to 0.501 to show that you are not using, but you must set hoodPoses equal
+            double velStart,
+            double hoodStart,
+            double velEnd,
+            double hoodEnd,
+            double turr
    ) {
-
-        boolean timeFallback = (time != 0.501);
-        boolean posXFallback = (posX != 0.501);
-        boolean posYFallback = (posY != 0.501);
-
        return new Action() {

            double stamp = 0.0;
            int ticker = 0;

+            final boolean timeFallback = (maxTime != 0.501);
+
            @Override
            public boolean run(@NonNull TelemetryPacket telemetryPacket) {

@@ -603,43 +634,41 @@ public class Actions{

                ticker++;

-                double robotX = drive.localizer.getPose().position.x;
-                double robotY = drive.localizer.getPose().position.y;
+                double robotX = currentPose.position.x;
+                double robotY = currentPose.position.y;

-                double robotHeading = drive.localizer.getPose().heading.toDouble();
+                double robotHeading = currentPose.heading.toDouble();

                double goalX = -15;
                double goalY = 0;

                double dx = robotX - goalX;  // delta x from robot to goal
                double dy = robotY - goalY;  // delta y from robot to goal
-                Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);
+                Pose2d deltaPose;
+                if (turr == 0.501) {
+                    deltaPose = new Pose2d(dx, dy, robotHeading);
+                    if (!detectingObelisk) {
+                        turret.trackGoal(deltaPose);
+                    }
+                } else {
+                    turret.setTurret(turr);
+                }

-                double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
-
-                targetingSettings = targeting.calculateSettings
-                        (robotX, robotY, robotHeading, 0.0, false);
-
-                servos.setHoodPos(targetingSettings.hoodAngle);
+                servos.setHoodPos(hoodStart + ((hoodEnd - hoodStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1)));
+                double vel = velStart + (velEnd - velStart) * Math.min(((System.currentTimeMillis() - stamp) / (hoodMoveTime * 1000)), 1);

                double voltage = robot.voltage.getVoltage();
-                flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
-                flywheel.manageFlywheel(targetingSettings.flywheelRPM);
+                flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
+                flywheel.manageFlywheel(vel);

-                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > time * 1000;
-                boolean xDone = posXFallback && Math.abs(currentPose.position.x - posX) < posXTolerance;
-                boolean yDone = posYFallback && Math.abs(currentPose.position.y - posY) < posYTolerance;
+                boolean timeDone = timeFallback && (System.currentTimeMillis() - stamp) > maxTime * 1000;

-                boolean shouldFinish = timeDone || xDone || yDone;
-                drive.updatePoseEstimate();
+                teleStart = currentPose;

-                teleStart = drive.localizer.getPose();
-                TELE.addData("Velocity", flywheel.getVelo());
-                TELE.addData("Hood", robot.hood.getPosition());
+                TELE.addData("Steady?", flywheel.getSteady());
                TELE.update();

-                return !shouldFinish;
-
+                return !timeDone;
            }
        };
    }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Back_Poses.java
@@ -1,23 +1,29 @@
 package org.firstinspires.ftc.teamcode.constants;

 import com.acmerobotics.dashboard.config.Config;
-import com.acmerobotics.roadrunner.Pose2d;

@Config
 public class Back_Poses {
-    public static double rLeaveX = 90, rLeaveY = 80, rLeaveH = 50.1;
-    public static double bLeaveX = 90, bLeaveY = -80, bLeaveH = -50;
+    public static double rLeaveX = 90, rLeaveY = 50, rLeaveH = 50.1;
+    public static double bLeaveX = 90, bLeaveY = -50, bLeaveH = -50;

-    public static double rShootX = 95, rShootY = 85, rShootH = 90;
-    public static double bShootX = 95, bShootY = -85, bShootH = -90;
+    public static double rShootX = 100, rShootY = 55, rShootH = 90;
+    public static double bShootX = 100, bShootY = -55, bShootH = -90;

-    public static double rStackPickupAX = 75, rStackPickupAY = 53, rStackPickupAH = 140;
+    public static double rStackPickupAX = 73, rStackPickupAY = 51, rStackPickupAH = 140;
    public static double bStackPickupAX = 75, bStackPickupAY = -53, bStackPickupAH = -140;

-    public static double rStackPickupBX = 50, rStackPickupBY = 78, rStackPickupBH = 140.1;
-    public static double bStackPickupBX = 50, bStackPickupBY = -78, bStackPickupBH = -140.1;
+    public static double rStackPickupBX = 53, rStackPickupBY = 71, rStackPickupBH = 140.1;
+    public static double bStackPickupBX = 55, bStackPickupBY = -73, bStackPickupBH = -140.1;

-    public static Pose2d autoStart = new Pose2d(0, 0, 0); // TODO: find this position
+    public static double rPickupGateX = 50, rPickupGateY = 83, rPickupGateH = 140;
+    public static double bPickupGateX = 70, bPickupGateY = -90, bPickupGateH = -140;
+    public static double pickupGateXB = 84, pickupGateYB = 76, pickupGateHB = 140;
+    public static double pickupGateXC = 50, pickupGateYC = 83, pickupGateHC = 190;


+
+    public static double autoStartRX = 103, autoStartRY = 63.5, autoStartRH = 50;
+    public static double autoStartBX = 103, autoStartBY = -63.5, autoStartBH = -50;
+
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/Front_Poses.java
@@ -8,39 +8,55 @@ public class Front_Poses {


    public static double rx1 = 20, ry1 = 0.5, rh1 = 0.1;
-    public static double bx1 = 20, by1 = 0.5, bh1 = 0.1;
+    public static double bx1 = 20, by1 = -0.5, bh1 = -0.1;

    public static double rx2a = 41, ry2a = 18, rh2a = 140;
    public static double bx2a = 41, by2a = -18, bh2a = -140;

-    public static double rx2b = 23, ry2b = 36, rh2b = 140.1;
-    public static double bx2b = 19, by2b = -40, bh2b = -140.1;
+    public static double rx2b = 21, ry2b = 34, rh2b = 140.1;
+    public static double bx2b = 23, by2b = -36, bh2b = -140.1;

    public static double rx3a = 55, ry3a = 39, rh3a = 140;
    public static double bx3a = 55, by3a = -39, bh3a = -140;

    public static double rx3aG = 60, ry3aG = 34, rh3aG = 140;
-    public static double bx3aG = 55, by3aG = -43, bh3aG = -140;
+    public static double bx3aG = 60, by3aG = -34, bh3aG = -140;

    public static double rx3b = 36, ry3b = 58, rh3b = 140.1;
-    public static double bx3b = 41, by3b = -59, bh3b = -140.1;
+    public static double bx3b = 36, by3b = -58, bh3b = -140.1;

    public static double rx4a = 75, ry4a = 53, rh4a = 140;
    public static double bx4a = 75, by4a = -53, bh4a = -140;

    public static double rx4b = 50, ry4b = 78, rh4b = 140.1;
-    public static double bx4b = 47, by4b = -85, bh4b = -140.1;
+    public static double bx4b = 50, by4b = -78, bh4b = -140.1;

    public static double rfx1 = 10, rfy1 = 0, rfh1 = 0;

    public static double rShootX = 40, rShootY = 10, rShootH = 50;
-    public static double bShootX = 40, bShootY = 0, bShootH = -50;
+    public static double bShootX = 40, bShootY = -10, bShootH = -50;

    public static double rxPrep = 45, ryPrep = 10, rhPrep = 50;
    public static double bxPrep = 45, byPrep = -10, bhPrep = -50;

-    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 50;
-    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -50;
+    public static double rLeaveX = 40, rLeaveY = -7, rLeaveH = 55;
+    public static double bLeaveX = 40, bLeaveY = 7, bLeaveH = -55;
+
+    public static double rShoot0X = 53, rShoot0Y = 10.1, rShoot0H = 80.1;
+    public static double bShoot0X = 53, bShoot0Y = -10.1, bShoot0H = -80.1;
+
+    public static double rShootGateX = 50, rShootGateY = 10, rShootGateH = 90;
+    public static double bShootGateX = 50, bShootGateY = -10, bShootGateH = -90;
+
+    public static double rLeaveGateX = 40, rLeaveGateY = -7, rLeaveGateH = 55;
+    public static double bLeaveGateX = 40, bLeaveGateY = 7, bLeaveGateH = -55;
+
+    public static double rPickupGateAX = 31, rPickupGateAY = 53, rPickupGateAH = 150;
+    public static double bPickupGateAX = 24, bPickupGateAY = -50, bPickupGateAH = -150;
+
+    public static double rPickupGateBX = 38, rPickupGateBY = 62, rPickupGateBH = 210;
+    public static double bPickupGateBX = 38, bPickupGateBY = -68, bPickupGateBH = -180;
+    public static double pickupGateCX = 34, pickupGateCY = 58, pickupGateCH = 220;

    public static Pose2d teleStart = new Pose2d(0, 0, 0);
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/constants/ServoPositions.java
@@ -5,19 +5,19 @@ import com.acmerobotics.dashboard.config.Config;
@Config
 public class ServoPositions {

-    public static double spindexer_intakePos1 = 0.07; //0.13;
+    public static double spindexer_intakePos1 = 0.18; //0.13;

-    public static double spindexer_intakePos2 = 0.27; //0.33;//0.5;
+    public static double spindexer_intakePos2 = 0.37; //0.33;//0.5;

-    public static double spindexer_intakePos3 = 0.46; //0.53;//0.66;
+    public static double spindexer_intakePos3 = 0.56; //0.53;//0.66;

-    public static double spindexer_outtakeBall3 = 0.71; //0.65; //0.24;
-    public static double spindexer_outtakeBall3b = 0.15; //0.65; //0.24;
+    public static double spindexer_outtakeBall3 = 0.84; //0.65; //0.24;
+    public static double spindexer_outtakeBall3b = 0.27; //0.65; //0.24;

-    public static double spindexer_outtakeBall2 = 0.53; //0.46; //0.6;
-    public static double spindexer_outtakeBall1 = 0.35; //0.27; //0.4;
-    public static double spinStartPos = 0.22;
-    public static double spinEndPos = 0.85;
+    public static double spindexer_outtakeBall2 = 0.66; //0.46; //0.6;
+    public static double spindexer_outtakeBall1 = 0.47; //0.27; //0.4;
+    public static double spinStartPos = 0.10;
+    public static double spinEndPos = 0.95;

    public static double shootAllSpindexerSpeedIncrease = 0.014;

@@ -27,19 +27,21 @@ public class ServoPositions {

    public static double hoodAuto = 0.27;

-    public static double hoodOffset = -0.05;
+    public static double hoodOffset = -0.04; // offset from 0.93

-    public static double turret_redClose = 0.42;
-    public static double turret_blueClose = 0.38;
+    public static double turret_redClose = 0;
+    public static double turret_blueClose = 0;

    // These values are ADDED to turrDefault
-    public static double redObeliskTurrPos1 = 0.12;
-    public static double redObeliskTurrPos2 = 0.13;
-    public static double redObeliskTurrPos3 = 0.14;
-    public static double blueObeliskTurrPos1 = -0.12;
-    public static double blueObeliskTurrPos2 = -0.13;
-    public static double blueObeliskTurrPos3 = -0.14;
-    public static double redTurretShootPos = 0.1;
-    public static double blueTurretShootPos = -0.14;
+    public static double redObeliskTurrPos0 = -0.35;
+    public static double redObeliskTurrPos1 = 0.15;
+    public static double redObeliskTurrPos2 = 0.16;
+    public static double redObeliskTurrPos3 = 0.17;
+    public static double blueObeliskTurrPos0 = 0.35;
+    public static double blueObeliskTurrPos1 = -0.15;
+    public static double blueObeliskTurrPos2 = -0.16;
+    public static double blueObeliskTurrPos3 = -0.17;
+    public static double redTurretShootPos = 0.05;
+    public static double blueTurretShootPos = -0.05;

 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/MecanumDrive.java
@@ -5,7 +5,9 @@ import androidx.annotation.NonNull;
 import com.acmerobotics.dashboard.canvas.Canvas;
 import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.TelemetryPacket;
-import com.acmerobotics.roadrunner.*;
+import com.acmerobotics.roadrunner.AccelConstraint;
+import com.acmerobotics.roadrunner.Action;
+import com.acmerobotics.roadrunner.Actions;
 import com.acmerobotics.roadrunner.AngularVelConstraint;
 import com.acmerobotics.roadrunner.DualNum;
 import com.acmerobotics.roadrunner.HolonomicController;
@@ -14,12 +16,20 @@ import com.acmerobotics.roadrunner.MinVelConstraint;
 import com.acmerobotics.roadrunner.MotorFeedforward;
 import com.acmerobotics.roadrunner.Pose2d;
 import com.acmerobotics.roadrunner.Pose2dDual;
+import com.acmerobotics.roadrunner.PoseVelocity2d;
+import com.acmerobotics.roadrunner.PoseVelocity2dDual;
 import com.acmerobotics.roadrunner.ProfileAccelConstraint;
+import com.acmerobotics.roadrunner.ProfileParams;
+import com.acmerobotics.roadrunner.Rotation2d;
 import com.acmerobotics.roadrunner.Time;
 import com.acmerobotics.roadrunner.TimeTrajectory;
 import com.acmerobotics.roadrunner.TimeTurn;
 import com.acmerobotics.roadrunner.TrajectoryActionBuilder;
+import com.acmerobotics.roadrunner.TrajectoryBuilderParams;
 import com.acmerobotics.roadrunner.TurnConstraints;
+import com.acmerobotics.roadrunner.Twist2d;
+import com.acmerobotics.roadrunner.Twist2dDual;
+import com.acmerobotics.roadrunner.Vector2d;
 import com.acmerobotics.roadrunner.VelConstraint;
 import com.acmerobotics.roadrunner.ftc.DownsampledWriter;
 import com.acmerobotics.roadrunner.ftc.Encoder;
@@ -46,13 +56,131 @@ import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumCommandMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.MecanumLocalizerInputsMessage;
 import org.firstinspires.ftc.teamcode.libs.RR.messages.PoseMessage;

-import java.lang.Math;
 import java.util.Arrays;
 import java.util.LinkedList;
 import java.util.List;

@Config
 public final class MecanumDrive {
+    public static Params PARAMS = new Params();
+    public final MecanumKinematics kinematics = new MecanumKinematics(
+            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
+    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
+            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
+    public final VelConstraint defaultVelConstraint =
+            new MinVelConstraint(Arrays.asList(
+                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
+                    new AngularVelConstraint(PARAMS.maxAngVel)
+            ));
+    public final AccelConstraint defaultAccelConstraint =
+            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
+    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
+    public final VoltageSensor voltageSensor;
+    public final LazyImu lazyImu;
+    public final Localizer localizer;
+    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
+    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
+    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
+    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
+    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
+    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
+        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
+
+        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
+            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
+        }
+
+        // TODO: make sure your config has motors with these names (or change them)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
+        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
+        rightBack = hardwareMap.get(DcMotorEx.class, "br");
+        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
+
+        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
+
+        // TODO: reverse motor directions if needed
+        //
+        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
+
+        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
+        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
+        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
+                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
+
+        voltageSensor = hardwareMap.voltageSensor.iterator().next();
+
+        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
+
+        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
+    }
+
+    public void setDrivePowers(PoseVelocity2d powers) {
+        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
+                PoseVelocity2dDual.constant(powers, 1));
+
+        double maxPowerMag = 1;
+        for (DualNum<Time> power : wheelVels.all()) {
+            maxPowerMag = Math.max(maxPowerMag, power.value());
+        }
+
+        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
+        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
+        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
+        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
+    }
+
+    public PoseVelocity2d updatePoseEstimate() {
+        PoseVelocity2d vel = localizer.update();
+        poseHistory.add(localizer.getPose());
+
+        while (poseHistory.size() > 100) {
+            poseHistory.removeFirst();
+        }
+
+        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
+
+        return vel;
+    }
+
+    private void drawPoseHistory(Canvas c) {
+        double[] xPoints = new double[poseHistory.size()];
+        double[] yPoints = new double[poseHistory.size()];
+
+        int i = 0;
+        for (Pose2d t : poseHistory) {
+            xPoints[i] = t.position.x;
+            yPoints[i] = t.position.y;
+
+            i++;
+        }
+
+        c.setStrokeWidth(1);
+        c.setStroke("#3F51B5");
+        c.strokePolyline(xPoints, yPoints);
+    }
+
+    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
+        return new TrajectoryActionBuilder(
+                TurnAction::new,
+                FollowTrajectoryAction::new,
+                new TrajectoryBuilderParams(
+                        1e-6,
+                        new ProfileParams(
+                                0.25, 0.1, 1e-2
+                        )
+                ),
+                beginPose, 0.0,
+                defaultTurnConstraints,
+                defaultVelConstraint, defaultAccelConstraint
+        );
+    }
+
    public static class Params {
        // IMU orientation
        // TODO: fill in these values based on
@@ -64,62 +192,33 @@ public final class MecanumDrive {

        // drive model parameters
        public double inPerTick = 0.001978956;
-        public double lateralInPerTick = 0.0013863732202094405;
-        public double trackWidthTicks = 6488.883015684446;
+        public double lateralInPerTick = 0.001367789463080072;
+        public double trackWidthTicks = 6913.070212622687;

        // feedforward parameters (in tick units)
-        public double kS = 1.2147826978829488;
-        public double kV = 0.00032;
-        public double kA = 0.000046;
+        public double kS = 1.23;
+        public double kV = 0.00035;
+        public double kA = 0.00008;

        // path profile parameters (in inches)
-        public double maxWheelVel = 180;
+        public double maxWheelVel = 70;
        public double minProfileAccel = -40;
-        public double maxProfileAccel = 180;
+        public double maxProfileAccel = 70;

        // turn profile parameters (in radians)
-        public double maxAngVel = 4* Math.PI; // shared with path
-        public double maxAngAccel = 4* Math.PI;
+        public double maxAngVel = 2 *Math.PI; // shared with path
+        public double maxAngAccel = 2 * Math.PI;

        // path controller gains
-        public double axialGain = 4;
-        public double lateralGain = 4;
-        public double headingGain = 4; // shared with turn
+        public double axialGain = 6.0;
+        public double lateralGain = 6.0;
+        public double headingGain = 6.0; // shared with turn

        public double axialVelGain = 0.0;
        public double lateralVelGain = 0.0;
        public double headingVelGain = 0.0; // shared with turn
    }

-    public static Params PARAMS = new Params();
-
-    public final MecanumKinematics kinematics = new MecanumKinematics(
-            PARAMS.inPerTick * PARAMS.trackWidthTicks, PARAMS.inPerTick / PARAMS.lateralInPerTick);
-
-    public final TurnConstraints defaultTurnConstraints = new TurnConstraints(
-            PARAMS.maxAngVel, -PARAMS.maxAngAccel, PARAMS.maxAngAccel);
-    public final VelConstraint defaultVelConstraint =
-            new MinVelConstraint(Arrays.asList(
-                    kinematics.new WheelVelConstraint(PARAMS.maxWheelVel),
-                    new AngularVelConstraint(PARAMS.maxAngVel)
-            ));
-    public final AccelConstraint defaultAccelConstraint =
-            new ProfileAccelConstraint(PARAMS.minProfileAccel, PARAMS.maxProfileAccel);
-
-    public final DcMotorEx leftFront, leftBack, rightBack, rightFront;
-
-    public final VoltageSensor voltageSensor;
-
-    public final LazyImu lazyImu;
-
-    public final Localizer localizer;
-    private final LinkedList<Pose2d> poseHistory = new LinkedList<>();
-
-    private final DownsampledWriter estimatedPoseWriter = new DownsampledWriter("ESTIMATED_POSE", 50_000_000);
-    private final DownsampledWriter targetPoseWriter = new DownsampledWriter("TARGET_POSE", 50_000_000);
-    private final DownsampledWriter driveCommandWriter = new DownsampledWriter("DRIVE_COMMAND", 50_000_000);
-    private final DownsampledWriter mecanumCommandWriter = new DownsampledWriter("MECANUM_COMMAND", 50_000_000);
-
    public class DriveLocalizer implements Localizer {
        public final Encoder leftFront, leftBack, rightBack, rightFront;
        public final IMU imu;
@@ -144,13 +243,13 @@ public final class MecanumDrive {
        }

        @Override
-        public void setPose(Pose2d pose) {
-            this.pose = pose;
+        public Pose2d getPose() {
+            return pose;
        }

        @Override
-        public Pose2d getPose() {
-            return pose;
+        public void setPose(Pose2d pose) {
+            this.pose = pose;
        }

        @Override
@@ -216,63 +315,10 @@ public final class MecanumDrive {
        }
    }

-    public MecanumDrive(HardwareMap hardwareMap, Pose2d pose) {
-        LynxFirmware.throwIfModulesAreOutdated(hardwareMap);
-
-        for (LynxModule module : hardwareMap.getAll(LynxModule.class)) {
-            module.setBulkCachingMode(LynxModule.BulkCachingMode.AUTO);
-        }
-
-        // TODO: make sure your config has motors with these names (or change them)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        leftFront = hardwareMap.get(DcMotorEx.class, "fl");
-        leftBack = hardwareMap.get(DcMotorEx.class, "bl");
-        rightBack = hardwareMap.get(DcMotorEx.class, "br");
-        rightFront = hardwareMap.get(DcMotorEx.class, "fr");
-
-        leftFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        leftBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightBack.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-        rightFront.setZeroPowerBehavior(DcMotor.ZeroPowerBehavior.BRAKE);
-
-        // TODO: reverse motor directions if needed
-        //
-        leftFront.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        leftBack.setDirection(DcMotorSimple.Direction.REVERSE);
-
-        // TODO: make sure your config has an IMU with this name (can be BNO or BHI)
-        //   see https://ftc-docs.firstinspires.org/en/latest/hardware_and_software_configuration/configuring/index.html
-        lazyImu = new LazyHardwareMapImu(hardwareMap, "imu", new RevHubOrientationOnRobot(
-                PARAMS.logoFacingDirection, PARAMS.usbFacingDirection));
-
-        voltageSensor = hardwareMap.voltageSensor.iterator().next();
-
-        localizer = new PinpointLocalizer(hardwareMap, PARAMS.inPerTick, pose);
-
-        FlightRecorder.write("MECANUM_PARAMS", PARAMS);
-    }
-
-    public void setDrivePowers(PoseVelocity2d powers) {
-        MecanumKinematics.WheelVelocities<Time> wheelVels = new MecanumKinematics(1).inverse(
-                PoseVelocity2dDual.constant(powers, 1));
-
-        double maxPowerMag = 1;
-        for (DualNum<Time> power : wheelVels.all()) {
-            maxPowerMag = Math.max(maxPowerMag, power.value());
-        }
-
-        leftFront.setPower(wheelVels.leftFront.get(0) / maxPowerMag);
-        leftBack.setPower(wheelVels.leftBack.get(0) / maxPowerMag);
-        rightBack.setPower(wheelVels.rightBack.get(0) / maxPowerMag);
-        rightFront.setPower(wheelVels.rightFront.get(0) / maxPowerMag);
-    }
-
    public final class FollowTrajectoryAction implements Action {
        public final TimeTrajectory timeTrajectory;
-        private double beginTs = -1;
-
        private final double[] xPoints, yPoints;
+        private double beginTs = -1;

        public FollowTrajectoryAction(TimeTrajectory t) {
            timeTrajectory = t;
@@ -299,7 +345,16 @@ public final class MecanumDrive {
                t = Actions.now() - beginTs;
            }

-            if (t >= timeTrajectory.duration) {
+            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
+            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
+
+            PoseVelocity2d robotVelRobot = updatePoseEstimate();
+
+            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
+
+            if ((t >= timeTrajectory.duration && error.position.norm() < 1
+                    && robotVelRobot.linearVel.norm() < 0.5)
+                    || t >= timeTrajectory.duration + 0.01) {
                leftFront.setPower(0);
                leftBack.setPower(0);
                rightBack.setPower(0);
@@ -308,10 +363,6 @@ public final class MecanumDrive {
                return false;
            }

-            Pose2dDual<Time> txWorldTarget = timeTrajectory.get(t);
-            targetPoseWriter.write(new PoseMessage(txWorldTarget.value()));
-
-            PoseVelocity2d robotVelRobot = updatePoseEstimate();

            PoseVelocity2dDual<Time> command = new HolonomicController(
                    PARAMS.axialGain, PARAMS.lateralGain, PARAMS.headingGain,
@@ -342,7 +393,6 @@ public final class MecanumDrive {
            p.put("y", localizer.getPose().position.y);
            p.put("heading (deg)", Math.toDegrees(localizer.getPose().heading.toDouble()));

-            Pose2d error = txWorldTarget.value().minusExp(localizer.getPose());
            p.put("xError", error.position.x);
            p.put("yError", error.position.y);
            p.put("headingError (deg)", Math.toDegrees(error.heading.toDouble()));
@@ -450,51 +500,4 @@ public final class MecanumDrive {
            c.fillCircle(turn.beginPose.position.x, turn.beginPose.position.y, 2);
        }
    }
-
-    public PoseVelocity2d updatePoseEstimate() {
-        PoseVelocity2d vel = localizer.update();
-        poseHistory.add(localizer.getPose());
-
-        while (poseHistory.size() > 100) {
-            poseHistory.removeFirst();
-        }
-
-        estimatedPoseWriter.write(new PoseMessage(localizer.getPose()));
-
-
-        return vel;
-    }
-
-    private void drawPoseHistory(Canvas c) {
-        double[] xPoints = new double[poseHistory.size()];
-        double[] yPoints = new double[poseHistory.size()];
-
-        int i = 0;
-        for (Pose2d t : poseHistory) {
-            xPoints[i] = t.position.x;
-            yPoints[i] = t.position.y;
-
-            i++;
-        }
-
-        c.setStrokeWidth(1);
-        c.setStroke("#3F51B5");
-        c.strokePolyline(xPoints, yPoints);
-    }
-
-    public TrajectoryActionBuilder actionBuilder(Pose2d beginPose) {
-        return new TrajectoryActionBuilder(
-                TurnAction::new,
-                FollowTrajectoryAction::new,
-                new TrajectoryBuilderParams(
-                        1e-6,
-                        new ProfileParams(
-                                0.25, 0.1, 1e-2
-                        )
-                ),
-                beginPose, 0.0,
-                defaultTurnConstraints,
-                defaultVelConstraint, defaultAccelConstraint
-        );
-    }
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/PinpointLocalizer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/libs/RR/PinpointLocalizer.java
@@ -16,10 +16,11 @@ import java.util.Objects;
@Config
 public final class PinpointLocalizer implements Localizer {
    public static class Params {
-        public double parYTicks = -3765.023079161767; // y position of the parallel encoder (in tick units)
-        public double perpXTicks = -1962.6377639490684; // x position of the perpendicular encoder (in tick units)
+        public double parYTicks = -3758.6603115671537; // y position of the parallel encoder (in tick units)
+        public double perpXTicks = -2088.4296466563774; // x position of the perpendicular encoder (in tick units)
    }

+
    public static Params PARAMS = new Params();

    public final GoBildaPinpointDriver driver;
@@ -48,6 +49,8 @@ public final class PinpointLocalizer implements Localizer {
        txWorldPinpoint = initialPose;
    }

+
+
    @Override
    public void setPose(Pose2d pose) {
        txWorldPinpoint = pose.times(txPinpointRobot.inverse());
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/teleop/TeleopV3.java
@@ -2,7 +2,6 @@ package org.firstinspires.ftc.teamcode.teleop;

 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
-import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Targeting.turretInterpolate;
 import static org.firstinspires.ftc.teamcode.utils.Turret.limelightUsed;
@@ -46,9 +45,9 @@ public class TeleopV3 extends LinearOpMode {
    public double vel = 3000;
    public boolean autoVel = true;
    public boolean targetingHood = true;
-    public boolean autoHood = true;
+    //    public boolean autoHood = true;
    public double shootStamp = 0.0;
-    boolean fixedTurret = false;
+    //    boolean fixedTurret = false;
    Robot robot;
    MultipleTelemetry TELE;
    Light light;
@@ -66,16 +65,18 @@ public class TeleopV3 extends LinearOpMode {
    boolean reject = false;
    double xOffset = 0.0;
    double yOffset = 0.0;
-    double headingOffset = 0.0;
+    double hOffset = 0.0;
+    //    double headingOffset = 0.0;
    int ticker = 0;

-    boolean autoSpintake = false;
+    //    boolean autoSpintake = false;
    boolean enableSpindexerManager = true;

-    boolean overrideTurr = false;
+//    boolean overrideTurr = false;

    int intakeTicker = 0;
    private boolean shootAll = false;
+    boolean relocalize = false;

    @Override
    public void runOpMode() throws InterruptedException {
@@ -112,17 +113,17 @@ public class TeleopV3 extends LinearOpMode {
        light.setState(StateEnums.LightState.MANUAL);
        limelightUsed = true;

-        robot.light.setPosition(1);
        while (opModeInInit()) {
            robot.limelight.start();
            if (redAlliance) {
-                robot.limelight.pipelineSwitch(4);
+                turret.pipelineSwitch(4);
                light.setManualLightColor(Color.LightRed);
            } else {
-                robot.limelight.pipelineSwitch(2);
+                turret.pipelineSwitch(2);
                light.setManualLightColor(Color.LightBlue);

            }
+            robot.light.setPosition(1);

            light.update();
        }
@@ -141,12 +142,7 @@ public class TeleopV3 extends LinearOpMode {

            //DRIVETRAIN:

-            drivetrain.drive(
-                    -gamepad1.right_stick_y,
-                    gamepad1.right_stick_x,
-                    gamepad1.left_stick_x,
-                    gamepad1.left_trigger
-            );
+            drivetrain.drive(-gamepad1.right_stick_y, gamepad1.right_stick_x, gamepad1.left_stick_x, gamepad1.left_trigger);

            if (gamepad1.right_bumper) {

@@ -155,10 +151,10 @@ public class TeleopV3 extends LinearOpMode {

                light.setState(StateEnums.LightState.BALL_COUNT);

-            } else if (gamepad2.triangle){
+            } else if (gamepad2.triangle) {
                light.setState(StateEnums.LightState.BALL_COLOR);

-            }  else {
+            } else {
                light.setState(StateEnums.LightState.GOAL_LOCK);
            }

@@ -166,10 +162,11 @@ public class TeleopV3 extends LinearOpMode {

            double robX = drive.localizer.getPose().position.x;
            double robY = drive.localizer.getPose().position.y;
+            double robH = drive.localizer.getPose().heading.toDouble();

-            double robotX = robX - xOffset;
-            double robotY = robY - yOffset;
-            double robotHeading = drive.localizer.getPose().heading.toDouble();
+            double robotX = robX + xOffset;
+            double robotY = robY + yOffset;
+            double robotHeading = robH + hOffset;

            double goalX = -15;
            double goalY = 0;
@@ -178,12 +175,25 @@ public class TeleopV3 extends LinearOpMode {
            double dy = robotY - goalY;  // delta y from robot to goal
            Pose2d deltaPose = new Pose2d(dx, dy, robotHeading);

-            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);
+//            double distanceToGoal = Math.sqrt(dx * dx + dy * dy);

-            targetingSettings = targeting.calculateSettings
-                    (robotX, robotY, robotHeading, 0.0, turretInterpolate);
+            targetingSettings = targeting.calculateSettings(robotX, robotY, robotHeading, 0.0, turretInterpolate);

-            turret.trackGoal(deltaPose);
+            //RELOCALIZATION
+
+            if (gamepad2.squareWasPressed()) {
+                relocalize = !relocalize;
+                gamepad2.rumble(500);
+            }
+
+            if (relocalize) {
+                turret.relocalize();
+                xOffset = -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset) - robX;
+                yOffset = (turret.getLimelightX() * 39.3701) - robY;
+                hOffset = (Math.toRadians(turret.getLimelightH())) - robH;
+            } else {
+                turret.trackGoal(deltaPose);
+            }

            //VELOCITY AUTOMATIC
            if (autoVel) {
@@ -210,11 +220,12 @@ public class TeleopV3 extends LinearOpMode {

            //SHOOTER:
            double voltage = robot.voltage.getVoltage();
-            flywheel.setPIDF(robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F / voltage);
+            flywheel.setPIDF(Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F / voltage);
            flywheel.manageFlywheel(vel);

            //HOOD:

+
            if (targetingHood) {
                servo.setHoodPos(targetingSettings.hoodAngle + autoHoodOffset);
            } else {
@@ -251,7 +262,6 @@ public class TeleopV3 extends LinearOpMode {
            }


-
            if (enableSpindexerManager) {
                //if (!shootAll) {
                spindexer.processIntake();
@@ -262,7 +272,6 @@ public class TeleopV3 extends LinearOpMode {
                    spindexer.setIntakePower(1);
                } else if (gamepad1.cross) {
                    spindexer.setIntakePower(-1);
-
                } else {
                    spindexer.setIntakePower(0);
                }
@@ -284,15 +293,11 @@ public class TeleopV3 extends LinearOpMode {
                    if (shooterTicker == 0) {
                        spindexer.prepareShootAllContinous();
                        //TELE.addLine("preparing to shoot");
-//                    } else if (shooterTicker == 2) {
+//                   else if (shooterTicker == 2) {
 //                        //servo.setTransferPos(transferServo_in);
 //                        spindexer.shootAll();
 //                        TELE.addLine("starting to shoot");
-                    } else if (!spindexer.shootAllComplete()) {
-                        servo.setTransferPos(transferServo_in);
-                        //TELE.addLine("shoot");
-                    } else {
-                        servo.setTransferPos(transferServo_out);
+                    } else if (spindexer.shootAllComplete()) {
                        //spindexPos = spindexer_intakePos1;
                        shootAll = false;
                        spindexer.resetSpindexer();
@@ -345,18 +350,22 @@ public class TeleopV3 extends LinearOpMode {
            // Targeting Debug
            TELE.addData("robotX", robotX);
            TELE.addData("robotY", robotY);
-            TELE.addData("robotInchesX", targeting.robotInchesX);
-            TELE.addData("robotInchesY", targeting.robotInchesY);
-            TELE.addData("Targeting Interpolate", turretInterpolate);
+            TELE.addData("robot H", robotHeading);
+//            TELE.addData("robotInchesX", targeting.robotInchesX);
+//            TELE.addData("robotInchesY", targeting.robotInchesY);
+//            TELE.addData("Targeting Interpolate", turretInterpolate);
            TELE.addData("Targeting GridX", targeting.robotGridX);
            TELE.addData("Targeting GridY", targeting.robotGridY);
-            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
-            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
-            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
-            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
+//            TELE.addData("Targeting FlyWheel", targetingSettings.flywheelRPM);
+//            TELE.addData("Targeting HoodAngle", targetingSettings.hoodAngle);
+//            TELE.addData("timeSinceStamp", getRuntime() - shootStamp);
+//            TELE.addData("Voltage", voltage); // returns alleged recorded voltage (not same as driver hub)
            TELE.addData("Avg Loop Time", loopTimes.getAvgLoopTime());
            TELE.addData("Min Loop Time", loopTimes.getMinLoopTimeOneMin());
            TELE.addData("Max Loop Time", loopTimes.getMaxLoopTimeOneMin());
+            TELE.addData("Tag Pos X", -((turret.getLimelightZ() * 39.3701) + Turret.limelightPosOffset));
+            TELE.addData("Tag Pos Y", turret.getLimelightX() * 39.3701);
+            TELE.addData("Tag Pos H", Math.toRadians(turret.getLimelightH()));

            TELE.update();

--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ColorTest.java
@@ -7,6 +7,7 @@ import com.acmerobotics.dashboard.config.Config;
 import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
 import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
 import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+import com.qualcomm.robotcore.hardware.NormalizedRGBA;

 import org.firstinspires.ftc.robotcore.external.navigation.DistanceUnit;
 import org.firstinspires.ftc.teamcode.utils.Robot;
@@ -28,16 +29,20 @@ public class ColorTest extends LinearOpMode {
        if (isStopRequested()) return;

        while(opModeIsActive()){
-            double green1 = robot.color1.getNormalizedColors().green;
-            double blue1 = robot.color1.getNormalizedColors().blue;
-            double red1 = robot.color1.getNormalizedColors().red;
+
+
+            NormalizedRGBA color1RGBA = robot.color1.getNormalizedColors();
+
+            double gP1 = color1RGBA.green / (color1RGBA.green + color1RGBA.red + color1RGBA.blue);
+
            double dist1 = robot.color1.getDistance(DistanceUnit.MM);
            color1Distance = (colorFilterAlpha * dist1) + ((1-colorFilterAlpha) * color1Distance);

            TELE.addData("Color1 toColor", robot.color1.getNormalizedColors().toColor());
-            TELE.addData("Color1 green", green1 / (green1 + blue1 + red1));
+            TELE.addData("Color1 green", gP1);
            TELE.addData("Color1 distance (mm)", color1Distance);

+
 // ----- COLOR 2 -----
            double green2 = robot.color2.getNormalizedColors().green;
            double blue2 = robot.color2.getNormalizedColors().blue;
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/ShooterTest.java
@@ -2,6 +2,7 @@ package org.firstinspires.ftc.teamcode.tests;

 import static org.firstinspires.ftc.teamcode.constants.Color.redAlliance;
 import static org.firstinspires.ftc.teamcode.constants.Front_Poses.teleStart;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spinStartPos;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_intakePos1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
@@ -37,7 +38,7 @@ public class ShooterTest extends LinearOpMode {
    public static double P = 255.0;
    public static double I = 0.0;
    public static double D = 0.0;
-    public static double F = 90;
+    public static double F = 75;
    public static double transferPower = 1.0;
    public static double hoodPos = 0.501;
    public static double turretPos = 0.501;
@@ -128,9 +129,9 @@ public class ShooterTest extends LinearOpMode {

            if (hoodPos != 0.501) {
                if (enableHoodAutoOpen) {
-                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)));
+                    robot.hood.setPosition(hoodPos+(hoodAdjustFactor*(flywheel.getVelo()/Velocity)) + hoodOffset);
                } else {
-                    robot.hood.setPosition(hoodPos);
+                    robot.hood.setPosition(hoodPos + hoodOffset);
                }
            }

--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/SortingTest.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/tests/SortingTest.java
@@ -0,0 +1,110 @@
+package org.firstinspires.ftc.teamcode.tests;
+
+import com.acmerobotics.dashboard.FtcDashboard;
+import com.acmerobotics.dashboard.config.Config;
+import com.acmerobotics.dashboard.telemetry.MultipleTelemetry;
+import com.acmerobotics.roadrunner.ftc.Actions;
+import com.acmerobotics.roadrunner.Pose2d;
+import com.qualcomm.robotcore.eventloop.opmode.LinearOpMode;
+import com.qualcomm.robotcore.eventloop.opmode.TeleOp;
+
+import org.firstinspires.ftc.teamcode.autonomous.actions.AutoActions;
+import org.firstinspires.ftc.teamcode.libs.RR.MecanumDrive;
+import org.firstinspires.ftc.teamcode.utils.Flywheel;
+import org.firstinspires.ftc.teamcode.utils.Light;
+import org.firstinspires.ftc.teamcode.utils.Robot;
+import org.firstinspires.ftc.teamcode.utils.Servos;
+import org.firstinspires.ftc.teamcode.utils.Spindexer;
+import org.firstinspires.ftc.teamcode.utils.Targeting;
+import org.firstinspires.ftc.teamcode.utils.Turret;
+
+@Config
+@TeleOp
+public class SortingTest extends LinearOpMode {
+    Robot robot;
+    MultipleTelemetry TELE;
+    MecanumDrive drive;
+    Servos servos;
+    Spindexer spindexer;
+    Flywheel flywheel;
+    Turret turret;
+    Targeting targeting;
+    Targeting.Settings targetingSettings;
+    AutoActions autoActions;
+    Light light;
+    @Override
+    public void runOpMode() throws InterruptedException {
+        robot = new Robot(hardwareMap);
+
+        TELE = new MultipleTelemetry(
+                telemetry, FtcDashboard.getInstance().getTelemetry()
+        );
+
+        flywheel = new Flywheel(hardwareMap);
+
+        targeting = new Targeting();
+        targetingSettings = new Targeting.Settings(0.0, 0.0);
+
+        spindexer = new Spindexer(hardwareMap);
+
+        servos = new Servos(hardwareMap);
+
+        turret = new Turret(robot, TELE, robot.limelight);
+
+        drive = new MecanumDrive(hardwareMap, new Pose2d(0, 0, 0));
+
+        light = Light.getInstance();
+
+        light.init(robot.light, spindexer, turret);
+
+        autoActions = new AutoActions(robot, drive, TELE, servos, flywheel, spindexer, targeting, targetingSettings, turret, light);
+
+        int motif = 21;
+        boolean intaking = true;
+
+        waitForStart();
+        if (isStopRequested()) return;
+
+        while (opModeIsActive()){
+            spindexer.setIntakePower(1);
+            robot.transfer.setPower(1);
+
+            if (gamepad1.crossWasPressed()){
+                motif = 21;
+            } else if (gamepad1.squareWasPressed()){
+                motif = 22;
+            } else if (gamepad1.triangleWasPressed()){
+                motif = 23;
+            }
+            flywheel.manageFlywheel(2500);
+
+            if (gamepad1.leftBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.prepareShootAll(
+                                3,
+                                5,
+                                motif,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+            } else if (gamepad1.rightBumperWasPressed()){
+                intaking = false;
+                Actions.runBlocking(
+                        autoActions.shootAllAuto(
+                                3.5,
+                                0.014,
+                                0.501,
+                                0.501,
+                                0.501
+                        )
+                );
+                intaking = true;
+            } else if (intaking){
+                spindexer.processIntake();
+            }
+        }
+    }
+}
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Flywheel.java
@@ -12,15 +12,13 @@ public class Flywheel {
    public double velo1 = 0.0;
    public double velo2 = 0.0;
    double targetVelocity = 0.0;
-    double previousTargetVelocity = 0.0;
-    double powPID = 0.0;
    boolean steady = false;
    public Flywheel (HardwareMap hardwareMap) {
        robot = new Robot(hardwareMap);
        shooterPIDF1 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
        shooterPIDF2 = new PIDFCoefficients
-                (robot.shooterPIDF_P, robot.shooterPIDF_I, robot.shooterPIDF_D, robot.shooterPIDF_F);
+                (Robot.shooterPIDF_P, Robot.shooterPIDF_I, Robot.shooterPIDF_D, Robot.shooterPIDF_F);
    }

    public double getVelo () {
@@ -38,8 +36,8 @@ public class Flywheel {
    }

    // Set the robot PIDF for the next cycle.
-    private double prevF = 0.501;
-    public static int voltagePIDFDifference = 5;
+    private double prevF = 0;
+    public static double voltagePIDFDifference = 0.8;
    public void setPIDF(double p, double i, double d, double f) {
        shooterPIDF1.p = p;
        shooterPIDF1.i = i;
@@ -52,6 +50,7 @@ public class Flywheel {
        if (Math.abs(prevF - f) > voltagePIDFDifference){
            robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
            robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
+            prevF = f;
        }
    }

@@ -61,26 +60,23 @@ public class Flywheel {
    // Convert from Ticks per Second to RPM
    private double TPS_to_RPM (double TPS) { return (TPS*60.0)/28.0;}

-    public double manageFlywheel(double commandedVelocity) {
+    public void manageFlywheel(double commandedVelocity) {

        if (Math.abs(targetVelocity - commandedVelocity) > 0.0001) {
            targetVelocity = commandedVelocity;
            // Add code here to set PIDF based on desired RPM
            //robot.shooter1.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF1);
            //robot.shooter2.setPIDFCoefficients(DcMotor.RunMode.RUN_USING_ENCODER, shooterPIDF2);
-            robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
-            robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
-
-            // Record Current Velocity
-            velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
-            velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
-            velo = Math.max(velo1, velo2);

        }
+        robot.shooter1.setVelocity(RPM_to_TPS(targetVelocity));
+        robot.shooter2.setVelocity(RPM_to_TPS(targetVelocity));
+        velo1 = TPS_to_RPM(robot.shooter1.getVelocity());
+        velo2 = TPS_to_RPM(robot.shooter2.getVelocity());
+        velo = Math.max(velo1, velo2);
        // really should be a running average of the last 5
-        steady = (Math.abs(targetVelocity - velo) < 200.0);
+        steady = (Math.abs(commandedVelocity - velo) < 50);

-        return powPID;
    }

    public void update()
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Light.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Light.java
@@ -12,7 +12,7 @@ public final class Light {

    private static Light instance;
    public static  double ballColorCycleTime = 1000; //in ms
-    public static double restingTime = 150; //in ms
+    public static double restingTime = 125; //in ms

    private Servo lightServo;
    private LightState state = LightState.DISABLED;
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/MeasuringLoopTimes.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/MeasuringLoopTimes.java
@@ -7,10 +7,10 @@ public class MeasuringLoopTimes {
    private double minLoopTime = 999999999999.0;

    private double maxLoopTime = 0.0;
-    private double mainLoopTime = 0.0;
+    double mainLoopTime = 0.0;

    private double MeasurementStart = 0.0;
-    private double currentTime = 0.0;
+    double currentTime = 0.0;

    private double avgLoopTime = 0.0;
    private int avgLoopTimeTicker = 0;
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Robot.java
@@ -1,11 +1,9 @@
 package org.firstinspires.ftc.teamcode.utils;

 import com.acmerobotics.dashboard.config.Config;
-import com.arcrobotics.ftclib.hardware.ServoEx;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.hardware.rev.RevColorSensorV3;
 import com.qualcomm.robotcore.hardware.AnalogInput;
-import com.qualcomm.robotcore.hardware.CRServo;
 import com.qualcomm.robotcore.hardware.DcMotor;
 import com.qualcomm.robotcore.hardware.DcMotorEx;
 import com.qualcomm.robotcore.hardware.DcMotorSimple;
@@ -31,11 +29,11 @@ public class Robot {
    public DcMotorEx intake;
    public DcMotorEx transfer;
    public PIDFCoefficients shooterPIDF;
-    public double shooterPIDF_P = 255.0;
-    public double shooterPIDF_I = 0.0;
-    public double shooterPIDF_D = 0.0;
-    public double shooterPIDF_F = 90;
-    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
+    public static double shooterPIDF_P = 255;
+    public static double shooterPIDF_I = 0.0;
+    public static double shooterPIDF_D = 0.0;
+    public static double shooterPIDF_F = 75;
+//    public double[] shooterPIDF_StepSizes = {10.0, 1.0, 0.001, 0.0001};
    public DcMotorEx shooter1;
    public DcMotorEx shooter2;
    public Servo hood;
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Servos.java
@@ -1,5 +1,7 @@
 package org.firstinspires.ftc.teamcode.utils;

+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.hoodOffset;
+
 import com.acmerobotics.dashboard.config.Config;
 import com.arcrobotics.ftclib.controller.PIDFController;
 import com.qualcomm.robotcore.hardware.HardwareMap;
@@ -12,8 +14,6 @@ public class Servos {
    public static double turrP = 1.1, turrI = 0.25, turrD = 0.0625, turrF = 0;
    public static double spin_scalar = 1.112;
    public static double spin_restPos = 0.155;
-    public static double turret_scalar = 1.009;
-    public static double turret_restPos = 0.0;
    Robot robot;
    PIDFController spinPID;
    PIDFController turretPID;
@@ -49,14 +49,13 @@ public class Servos {
        return (Math.abs(pos1 - pos2) < 0.005);
    }

-    public double setTransferPos(double pos) {
+    public void setTransferPos(double pos) {
        if (firstTransferPos || !servoPosEqual(pos, prevTransferPos)) {
            robot.transferServo.setPosition(pos);
            firstTransferPos = false;
        }

        prevTransferPos = pos;
-        return pos;
    }

    public double setSpinPos(double pos) {
@@ -70,29 +69,16 @@ public class Servos {
        return pos;
    }

-    public double setHoodPos(double pos){
+    public void setHoodPos(double pos){
        if (firstHoodPos || !servoPosEqual(pos, prevHoodPos)) {
-            robot.hood.setPosition(pos);
+            robot.hood.setPosition(pos + hoodOffset);
            firstHoodPos = false;
        }

        prevHoodPos = pos;
-        return pos;
    }

    public boolean spinEqual(double pos) {
        return Math.abs(pos - this.getSpinPos()) < 0.03;
    }
-
-    public double getTurrPos() {
-        return 1.0;
-    }
-
-    public double setTurrPos(double pos) {
-        return 1.0;
-    }
-
-    public boolean turretEqual(double pos) {
-        return true;
-    }
 }
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Spindexer.java
@@ -16,6 +16,8 @@ import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall1;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall2;
 import static org.firstinspires.ftc.teamcode.constants.ServoPositions.spindexer_outtakeBall3;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_in;
+import static org.firstinspires.ftc.teamcode.constants.ServoPositions.transferServo_out;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinD;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinF;
 import static org.firstinspires.ftc.teamcode.utils.Servos.spinI;
@@ -52,6 +54,9 @@ public class Spindexer {
    private double prevPos = 0.0;
    public double spindexerPosOffset = 0.00;
    public static int shootWaitMax = 4;
+    public static boolean whileShooting = false;
+    public static int waitFirstBallTicks = 4;
+    private int shootTicks = 0;
    public StateEnums.Motif desiredMotif = StateEnums.Motif.NONE;
    // For Use
    enum RotatedBallPositionNames {
@@ -182,7 +187,7 @@ public class Spindexer {
        distanceFrontPassenger = (colorFilterAlpha * dFrontPassenger) + ((1-colorFilterAlpha) * distanceFrontPassenger);

        // Position 1
-        if (distanceRearCenter < 60) {
+        if (distanceRearCenter < 48) {

            // Mark Ball Found
            newPos1Detection = true;
@@ -204,7 +209,7 @@ public class Spindexer {
        // Position 2
        // Find which ball position this is in the spindexer
        spindexerBallPos = RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.FRONTDRIVER.ordinal()];
-        if (distanceFrontDriver < 56) {
+        if (distanceFrontDriver < 50) {
            // reset FoundEmpty because looking for 3 in a row before reset
            ballPositions[spindexerBallPos].foundEmpty = 0;
            if (detectFrontColor) {
@@ -530,18 +535,26 @@ public class Spindexer {
                break;

            case SHOOT_PREP_CONTINOUS:
-                if (servos.spinEqual(spinStartPos)){
+                if (shootTicks > waitFirstBallTicks){
                    currentIntakeState = Spindexer.IntakeState.SHOOT_CONTINOUS;
+                    shootTicks++;
+                } else if (servos.spinEqual(spinStartPos)){
+                    shootTicks++;
+                    servos.setTransferPos(transferServo_in);
                } else {
                    servos.setSpinPos(spinStartPos);
                }
                break;

            case SHOOT_CONTINOUS:
+                whileShooting = true;
                ballPositions[0].isEmpty = false;
                ballPositions[1].isEmpty = false;
                ballPositions[2].isEmpty = false;
                if (servos.getSpinPos() > spinEndPos){
+                    whileShooting = false;
+                    servos.setTransferPos(transferServo_out);
+                    shootTicks = 0;
                    currentIntakeState = IntakeState.FINDNEXT;
                } else {
                    double spinPos = servos.getSpinCmdPos() + shootAllSpindexerSpeedIncrease;
@@ -658,8 +671,10 @@ public class Spindexer {
        return ballPositions[RotatedBallPositions[commandedIntakePosition][RotatedBallPositionNames.REARCENTER.ordinal()]].ballColor;
    }
    private double prevPow = 0.501;
+    private boolean firstIntakePow = true;
    public void setIntakePower(double pow){
-        if (prevPow != 0.501 && prevPow != pow){
+        if (firstIntakePow || prevPow != pow){
+            firstIntakePow = false;
            robot.intake.setPower(pow);
        }
        prevPow = pow;
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Targeting.java
@@ -82,13 +82,19 @@ public class Targeting {
    public Targeting() {
    }

+    double cos54 = Math.cos(Math.toRadians(-54));
+    double sin54 = Math.sin(Math.toRadians(-54));
+
    public Settings calculateSettings(double robotX, double robotY, double robotHeading, double robotVelocity, boolean interpolate) {
        Settings recommendedSettings = new Settings(0.0, 0.0);
-
-        double cos45 = Math.cos(Math.toRadians(-45));
-        double sin45 = Math.sin(Math.toRadians(-45));
-        double rotatedY = (robotX + cancelOffsetX) * sin45 + (robotY + cancelOffsetY) * cos45;
-        double rotatedX = (robotX + cancelOffsetX) * cos45 - (robotY + cancelOffsetY) * sin45;
+        if (!redAlliance){
+            sin54 = Math.sin(Math.toRadians(54));
+        } else {
+            sin54 = Math.sin(Math.toRadians(-54));
+        }
+        // TODO: test these values determined from the fmap
+        double rotatedY = (robotX + cancelOffsetX) * sin54 + (robotY + cancelOffsetY) * cos54;
+        double rotatedX = (robotX + cancelOffsetX) * cos54 - (robotY + cancelOffsetY) * sin54;

        // Convert robot coordinates to inches
        robotInchesX = rotatedX * unitConversionFactor;
@@ -99,7 +105,17 @@ public class Targeting {
        int gridY = Math.abs(Math.floorDiv((int) robotInchesY, tileSize));

        int remX = Math.floorMod((int) robotInchesX, tileSize);
-        int remY = Math.floorMod((int) robotInchesX, tileSize);
+        int remY = Math.floorMod((int) robotInchesY, tileSize);
+
+        //clamp
+
+        //if (redAlliance) {
+            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //} else {
+//            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
+//            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
+        //}

        // Determine if we need to interpolate based on tile position.
        // if near upper or lower quarter or tile interpolate with next tile.
@@ -172,21 +188,11 @@ public class Targeting {
            interpolate = false;
        }

-        //clamp
-
-        if (redAlliance) {
-            robotGridX = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridY = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        } else {
-            robotGridY = Math.max(0, Math.min(gridX, KNOWNTARGETING[0].length - 1));
-            robotGridX = Math.max(0, Math.min(gridY, KNOWNTARGETING.length - 1));
-        }
-
        // basic search
        if (true) { //!interpolate) {
            if ((robotGridY < 6) && (robotGridX < 6)) {
                recommendedSettings.flywheelRPM = KNOWNTARGETING[robotGridX][robotGridY].flywheelRPM;
-                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle + ServoPositions.hoodOffset;
+                recommendedSettings.hoodAngle = KNOWNTARGETING[robotGridX][robotGridY].hoodAngle;
            }
            return recommendedSettings;
        } else {
--- a/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
+++ b/TeamCode/src/main/java/org/firstinspires/ftc/teamcode/utils/Turret.java
@@ -10,11 +10,11 @@ import com.qualcomm.hardware.limelightvision.LLResult;
 import com.qualcomm.hardware.limelightvision.LLResultTypes;
 import com.qualcomm.hardware.limelightvision.Limelight3A;
 import com.qualcomm.robotcore.hardware.DcMotor;
-import com.qualcomm.robotcore.util.ElapsedTime;

 import org.firstinspires.ftc.robotcore.external.navigation.Pose3D;
 import org.firstinspires.ftc.teamcode.constants.Color;

+import java.util.ArrayList;
 import java.util.List;

@Config
@@ -23,23 +23,21 @@ public class Turret {

    public static double turretTolerance = 0.02;
    public static double turrPosScalar = 0.00011264432;
-    public static double turret180Range = 0.4;
-    public static double turrDefault = 0.39;
-    public static double turrMin = 0.15;
-    public static double turrMax = 0.85;
+    public static double turret180Range = 0.54;
+    public static double turrDefault = 0.35;
+    public static double turrMin = 0;
+    public static double turrMax = 1;
    public static boolean limelightUsed = true;
-
+    public static double limelightPosOffset = 5;
    public static double manualOffset = 0.0;

-    public static double visionCorrectionGain = 0.08;  // Single tunable gain
-    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
-    public static double cameraBearingEqual = 0.5;      // Deadband
+//    public static double visionCorrectionGain = 0.08;  // Single tunable gain
+//    public static double maxOffsetChangePerCycle = 5.0; // Degrees per cycle
+//    public static double cameraBearingEqual = 0.5;      // Deadband

-    // TODO: tune these values for limelight
-
-    public static double clampTolerance = 0.03;
+//    public static double clampTolerance = 0.03;
    //public static double B_PID_P = 0.105, B_PID_I = 0.0, B_PID_D = 0.0125;
-    public static double B_PID_P = 0.066, B_PID_I = 0.0, B_PID_D = 0.007;
+    public static double B_PID_P = 0.08, B_PID_I = 0.0, B_PID_D = 0.007;
    Robot robot;
    MultipleTelemetry TELE;
    Limelight3A webcam;
@@ -48,6 +46,8 @@ public class Turret {
    double limelightPosX = 0.0;
    double limelightPosY = 0.0;
    LLResult result;
+    public static double TARGET_POSITION_TOLERANCE = 0.5;
+    public static double COLOR_OK_TOLERANCE = 2;
    boolean bearingAligned = false;
    private boolean lockOffset = false;
    private int obeliskID = 0;
@@ -55,11 +55,12 @@ public class Turret {
    private double currentTrackOffset = 0.0;
    private double lightColor = Color.LightRed;
    private int currentTrackCount = 0;
-    private double permanentOffset = 0.0;
-    private PIDController bearingPID;
+    double permanentOffset = 0.0;
+    private int prevPipeline = -1;
+    PIDController bearingPID;

-    private double prevTurretPos = 0.0;
-    private boolean firstTurretPos = true;
+    public int llCoast = 0;
+    public int LL_COAST_TICKS = 60;

    public Turret(Robot rob, MultipleTelemetry tele, Limelight3A cam) {
        this.TELE = tele;
@@ -81,21 +82,33 @@ public class Turret {
        return turrPosScalar * (robot.turr1Pos.getVoltage() / 3.3) + turrDefault;

    }
-    private double prevTurrPos = 0.501;
+    private double prevTurrPos = 0;
+    private boolean isFirstTurretPos = true;
    public void setTurret(double pos) {
-        if (prevTurrPos != 0.501 && prevTurrPos != pos){
+        if (isFirstTurretPos || prevTurrPos != pos){
            robot.turr1.setPosition(pos);
            robot.turr2.setPosition(1-pos);
+            isFirstTurretPos = false;
        }
        prevTurrPos = pos;
    }
+    public void pipelineSwitch(int pipeline){
+        if (prevPipeline != pipeline){
+            robot.limelight.pipelineSwitch(pipeline);
+        }
+        prevPipeline = pipeline;
+    }

    public boolean turretEqual(double pos) {
        return Math.abs(pos - this.getTurrPos()) < turretTolerance;
    }

+    public static double alphaPosConstant = 0.3;
    private void limelightRead() { // only for tracking purposes, not general reads
-
+        Double xPos = null;
+        Double yPos = null;
+        Double zPos = null;
+        Double hPos = null;
        result = webcam.getLatestResult();
        if (result != null) {
            if (result.isValid()) {
@@ -107,9 +120,27 @@ public class Turret {
                    limelightPosX = botpose.getPosition().x;
                    limelightPosY = botpose.getPosition().y;
                }
+                List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+                for (LLResultTypes.FiducialResult fiducial : fiducials) {
+                    limelightTagPose = fiducial.getRobotPoseTargetSpace();
+                    if (limelightTagPose != null){
+                        xPos = limelightTagPose.getPosition().x;
+                        yPos = limelightTagPose.getPosition().y;
+                        zPos = limelightTagPose.getPosition().z;
+                        hPos = limelightTagPose.getOrientation().getYaw();
+                    }
+                }

            }
        }
+        if (xPos != null){
+            if (zPos<0) {
+                limelightTagX = (alphaPosConstant * xPos) + ((1 - alphaPosConstant) * limelightTagX);
+                limelightTagY = (alphaPosConstant * yPos) + ((1 - alphaPosConstant) * limelightTagY);
+                limelightTagZ = (alphaPosConstant * zPos) + ((1 - alphaPosConstant) * limelightTagZ);
+                limelightTagH = (alphaPosConstant * hPos) + ((1 - alphaPosConstant) * limelightTagH);
+            }
+        }
    }

    public double getBearing() {
@@ -122,12 +153,21 @@ public class Turret {
        return ty;
    }

+    Pose3D limelightTagPose;
+    double limelightTagX = 0.0;
+    double limelightTagY = 0.0;
+    double limelightTagZ = 0.0;
+    double limelightTagH = 0.0;
    public double getLimelightX() {
-        return limelightPosX;
+        return limelightTagX;
    }
+    public double getLimelightY() {return limelightTagY;}
+    public double getLimelightZ(){return limelightTagZ;}
+    public double getLimelightH(){return limelightTagH;}

-    public double getLimelightY() {
-        return limelightPosY;
+    public void relocalize(){
+        setTurret(turrDefault);
+        limelightRead();
    }

    public int detectObelisk() {
@@ -135,8 +175,12 @@ public class Turret {
        LLResult result = webcam.getLatestResult();
        if (result != null && result.isValid()) {
            List<LLResultTypes.FiducialResult> fiducials = result.getFiducialResults();
+            double prevTx  = -1000;
            for (LLResultTypes.FiducialResult fiducial : fiducials) {
-                obeliskID = fiducial.getFiducialId();
+                double currentTx = fiducial.getTargetXDegrees();
+                if (currentTx > prevTx){
+                    obeliskID = fiducial.getFiducialId();
+                }
            }
        }
        return obeliskID;
@@ -157,16 +201,16 @@ public class Turret {
    /*
        Param @deltaPos = Pose2d when subtracting robot x, y, heading from goal x, y, heading
     */
-
+    private double targetTx = 0;
+    public static double alphaTX = 0.5;
    private double bearingAlign(LLResult llResult) {
        double bearingOffset = 0.0;
-        double targetTx = llResult.getTx();   // How far left or right the target is (degrees)
-        final double MIN_OFFSET_POWER = 0.15;
-        final double TARGET_POSITION_TOLERANCE = 1.0;
-        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
-        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
-        final double DRIVE_POWER_REDUCTION = 2.0;
-        final double COLOR_OK_TOLERANCE = 2.5;
+        double tx = llResult.getTx();   // How far left or right the target is (degrees)
+        targetTx = (tx*alphaTX)+(targetTx*(1-alphaTX));
+//        final double MIN_OFFSET_POWER = 0.15;
+//        // LL has 54.5 degree total Horizontal FOV; very edges are not useful.
+//        final double HORIZONTAL_FOV_RANGE = 26.0;  // Total usable horizontal degrees from center +/-
+//        final double DRIVE_POWER_REDUCTION = 2.0;

        if (abs(targetTx) < TARGET_POSITION_TOLERANCE) {
            bearingAligned = true;
@@ -230,11 +274,18 @@ public class Turret {

        turretAngleDeg += permanentOffset;

+
        limelightRead();
        // Active correction if we see the target
        if (result.isValid() && !lockOffset && limelightUsed) {
            currentTrackOffset += bearingAlign(result);
            currentTrackCount++;
+
+            TELE.addData("LL Tracking: ", llCoast);
+
+            // Assume the last tracked value is always better than
+            // any previous value, even if its not fully aligned.
+            llCoast = LL_COAST_TICKS;
 //            double bearingError = Math.abs(tagBearingDeg);
 //
 //            if (bearingError > cameraBearingEqual) {
@@ -265,9 +316,15 @@ public class Turret {
 //            if (currentTrackCount > 20) {
 //                offset = currentTrackOffset;
 //            }
-            lightColor = Color.LightRed;
-            currentTrackOffset = 0.0;
-            currentTrackCount = 0;
+            if (llCoast <= 0) {
+                TELE.addData("LL No Track: ", llCoast);
+                lightColor = Color.LightRed;
+                currentTrackOffset = 0.0;
+                currentTrackCount = 0;
+            } else {
+                TELE.addData("LL Coasting: ", llCoast);
+                llCoast--;
+            }
        }

        // Apply accumulated offset
@@ -282,7 +339,7 @@ public class Turret {
        targetTurretPos = Math.max(turrMin, Math.min(targetTurretPos, turrMax));

        // Interpolate towards target position
-        double currentPos = getTurrPos();
+//        double currentPos = getTurrPos();
        double turretPos = targetTurretPos;

        if (targetTurretPos == turrMin) {
@@ -292,7 +349,9 @@ public class Turret {
        }

        // Set servo positions
-        setTurret(turretPos + manualOffset);
+        if (!Spindexer.whileShooting || abs(targetTx) > COLOR_OK_TOLERANCE){
+            setTurret(turretPos + manualOffset);
+        }


        /* ---------------- TELEMETRY ---------------- */
--- a/build.dependencies.gradle
+++ b/build.dependencies.gradle
@@ -6,7 +6,6 @@ repositories {
    maven { url = 'https://maven.brott.dev/' } //RR
    maven { url = "https://maven.rowanmcalpin.com/" } //Next FTC
    maven { url = "https://repo.dairy.foundation/releases" } //AS
-
 }

 dependencies {
@@ -25,8 +24,6 @@ dependencies {
    implementation 'com.pedropathing:ftc:2.0.6' //PedroCore
    implementation 'com.pedropathing:telemetry:1.0.0' //PedroTele
    implementation 'com.bylazar:fullpanels:1.0.2' //Panels
-
-
    implementation 'org.ftclib.ftclib:core:2.1.1' // FTC LIB

    implementation 'com.rowanmcalpin.nextftc:core:0.6.2' //NEXT FTC
Author	SHA1	Message	Date
KeshavAnandCode	7043274ebd	test commit 3	2026-03-18 15:15:38 -05:00
KeshavAnandCode	bd05090afe	test commit 2	2026-03-18 15:08:27 -05:00
KeshavAnandCode	369e379eb4	test comit	2026-03-18 15:05:37 -05:00
Keshav Anand	41853e9ad1	Testing new commit stattion	2026-03-09 16:42:00 -05:00
KeshavAnandCode	c01edd9308	worlin	2026-02-27 17:25:50 -06:00
KeshavAnandCode	ccfac3e123	Merge remote-tracking branch 'origin/LimelightCoast'	2026-02-27 17:22:38 -06:00
KeshavAnandCode	395d4439db	Commit working auto front	2026-02-27 17:22:01 -06:00
Matt9150	5f33cb4d41	Add limelight coast at 2 seconds.	2026-02-27 17:13:16 -06:00
KeshavAnandCode	e92f11bc69	stash	2026-02-27 16:00:38 -06:00
KeshavAnandCode	457eaf5feb	fixed sxonwe color sorting...jusyt have to have a working auto	2026-02-26 23:17:16 -06:00
DanTheMan-byte	dc9886855b	sorting ahh thing	2026-02-26 22:18:36 -06:00
KeshavAnandCode	194100e3c8	IOoverclocked a whole bunch of chaso @Daniel you got this bro	2026-02-26 17:07:54 -06:00
KeshavAnandCode	64b2fed8d6	Auton, hopefully pintpoint works ig	2026-02-24 22:22:03 -06:00
DanTheMan-byte	2ccd7f04f8	put in poses for blue	2026-02-23 21:00:14 -06:00
DanTheMan-byte	1ae4e1c3ed	auto rewritten	2026-02-23 20:29:00 -06:00
KeshavAnandCode	7a2b275e66	stash for dany	2026-02-23 19:42:34 -06:00
DanTheMan-byte	0264cf2c77	heading relocalization done, need to test for flipping and consistency	2026-02-22 17:55:56 -06:00
DanTheMan-byte	f69bffc3ee	limelight relocalization of x,y is done. Still need to do heading	2026-02-22 17:44:57 -06:00
DanTheMan-byte	09347ce479	color sensor values adjusted	2026-02-22 15:19:43 -06:00
DanTheMan-byte	102693d94a	turret values adjusted	2026-02-22 15:16:17 -06:00
DanTheMan-byte	c2e0b69c55	Added to get limelight positioning	2026-02-21 14:29:10 -06:00
DanTheMan-byte	82c16b5402	new method since no longer flippable due to angle being 54 and not 45	2026-02-21 13:51:53 -06:00
DanTheMan-byte	5a456e211f	new method since no longer flippable due to angle being 54 and not 45	2026-02-21 13:44:31 -06:00
DanTheMan-byte	e87c5bb845	fixed a small error	2026-02-21 12:54:27 -06:00
DanTheMan-byte	a695f19cc6	fixed a small error	2026-02-21 12:27:25 -06:00
DanTheMan-byte	1ad33fd45b	targeting angle determined	2026-02-21 12:01:20 -06:00
DanTheMan-byte	56b61ee88b	gate auto in progress - 30% done	2026-02-20 22:13:52 -06:00
DanTheMan-byte	1ee40b472a	format of front gate auto complete - V1	2026-02-20 19:38:05 -06:00
DanTheMan-byte	3268d5cd02	front gate auto still in progress	2026-02-19 21:19:04 -06:00
DanTheMan-byte	44caad767b	front gate auto in progress	2026-02-17 18:07:09 -06:00
DanTheMan-byte	dd1db74059	stash	2026-02-17 16:21:52 -06:00
DanTheMan-byte	7161933d06	back gate auto is like 90% done and changed some things to reduce warnings	2026-02-17 15:45:28 -06:00
DanTheMan-byte	0f556a193f	back gate auto is like 80% done	2026-02-16 18:03:52 -06:00
DanTheMan-byte	85989d54b9	back auto gate cycling in progress	2026-02-15 18:03:37 -06:00
DanTheMan-byte	2b9b0a140b	lights added to auto	2026-02-15 17:03:49 -06:00
KeshavAnandCode	18d9857b7a	tubne autob	2026-02-15 16:31:40 -06:00
DanTheMan-byte	1c3100966c	far auto in development part 2	2026-02-15 15:47:36 -06:00
DanTheMan-byte	78c65c9d93	far auto in development	2026-02-14 18:27:21 -06:00
DanTheMan-byte	28816a6e34	close auto is pretty close to good	2026-02-14 17:16:25 -06:00
DanTheMan-byte	d0c34132de	remodeled close auto and it works except for poses (@KeshavAnandCode that is your job	2026-02-14 15:39:03 -06:00
DanTheMan-byte	04ea56e31d	auto actions class tested: works but needs remodeling	2026-02-12 21:26:23 -06:00
DanTheMan-byte	b616a41a08	Merge branch 'master' into danielv5	2026-02-12 20:26:41 -06:00
DanTheMan-byte	d18fedf8eb	action file done implemented with close auto but untested	2026-02-12 20:26:03 -06:00
DanTheMan-byte	7d8dee7c3c	Merge branch 'master' into danielv5	2026-02-12 20:19:35 -06:00
DanTheMan-byte	da944661a4	Merge branch 'master' into danielv5	2026-02-12 20:17:06 -06:00
DanTheMan-byte	a4755bf668	action file done implemented with close auto but untested	2026-02-12 20:16:27 -06:00